Applicator of coating product, multiaxis robot comprising such an applicator and application method of a coating product

ABSTRACT

An applicator making it possible to apply a coating product on a surface to be coated, including at least one row of nozzles, among which at least the first nozzle in the row includes a valve, the applicator further including at least one distance sensor, to measure an application distance of the first nozzle from a point in front of the latter on a path of the applicator, and an electronic control unit of the valve, which is programmed to collect the distance measured by the distance sensor and, based on the collected distance value, to open or close the valve.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority under 35 USC §119 of French PatentApplication No. 16 51839 filed on Mar. 4, 2016.

FIELD OF THE INVENTION

The invention relates to an applicator of a coating product, a multiaxisrobot provided with this applicator and a method for applying a coatingproduct on the surface of a part, such as the hood of a motor vehicle.In particular, the method according to the invention makes it possibleto apply two layers of coating product with a perfect junction betweenthe two layers.

BACKGROUND OF THE INVENTION

The current trend in the automotive industry, in particular for sportsvehicles, is customizable cars. Thus, automobile builders are offeringtheir customers cars whose body paint can be customized. The body canthus be multicolored, with different patterns, such as stripes. One orseveral stripes in different colors are often seen on sports cars inparticular, extending in the longitudinal direction on the hood of thecar. To produce these types of stripes, one known technique consists ofapplying a mask on the rest of the body so as to expose only the surfaceof the hood corresponding to a stripe being applied. In practice, thismask is done with adhesive paper that is removed once the pattern iscreated. However, this technique is relatively unpleasant, since itrequires applying a mask manually on the body of each vehicle.

Another technique, in particular described in US-A-2013/0284833,consists of using a multiaxis robot, comprising a moving arm on which aspecific applicator is mounted. This applicator is a printing head ofthe inkjet type, which includes at least one row of nozzles throughwhich the coating product flows. A stripe of paint with clean edges cantherefore be applied by moving the arm of the robot in a directionperpendicular to the row of nozzles of the printing head. When the widthof the stripe one wishes to apply exceeds the width of the printinghead, the robot must perform several back and forth movements withtrajectories programmed so that the stripes are adjacent; i.e., so thatthere is no non-overlapping zone between two passes of the printinghead. US-A-2013/0284833 discloses, in particular in paragraph [0174],that the nozzles of the printing head make it possible to apply acoating with a distribution having a trapezoidal thickness, in order toavoid excess thicknesses during overlapping and to obtain a coating witha constant thickness. To apply a clean edge, as shown in FIG. 21D ofthis publication, some of the nozzles of the printing head aredeactivated when the applicator passes.

It is known that multiaxis robots have trouble following a predeterminedtrajectory, for example in a straight line. Thus, the actual trajectorydescribed by the robot fits in an imaginary tube, which is centered onthe theoretical trajectory and the outer diameter of which depends onthe precision of the robot. A “tubing” phenomenon may cause a defect inthe overlapping between two paint stripes at the junction between thetwo stripes. To offset this problem, it is stated in paragraph [0144] ofUS-A-2013/0284833 that the applicator comprises an optical sensor ableto record the movement line of the applicator to reproduce exactly thesame journey during subsequent passes of the applicator. The journey ofthe arm of the robot is thus adjusted relative to the previous pass toobtain a perfect junction between the layers applied during twosuccessive passes.

One drawback of this technology is that the junction is not perfect whenthe coating is applied on curved surfaces, like the hood of a car.Non-overlapping zones are then observed between two passes of theapplicator.

SUMMARY OF THE DESCRIPTION

The invention more particularly aims to resolve these drawbacks byproposing an applicator of coating products making it possible to obtaina perfect junction between two stripes from two successive passes, evenon a curved surface, like the hood of a car.

To that end, the invention relates to an applicator of a coating producton a surface to be coated, including at least one row of nozzles, amongwhich at least the first nozzle in the row includes a valve. Accordingto the invention, the applicator further comprises at least one distancesensor, to measure an application distance of the first nozzle from apoint in front of the latter on a path of the applicator, and anelectronic control unit of the valve, which is programmed to collect thedistance measured by the distance sensor and, based on the collecteddistance value, to open or close the valve.

According to advantageous but optional aspects of the invention, theapplicator of a coating product may comprise any of the followingfeatures, considered in any technically possible combination:

-   -   Each nozzle in the row comprises a valve, while the distance        sensor is able to measure the application distance of at least        certain nozzles in the row at respective points in front of the        latter on the path of the applicator.    -   The electronic control unit is programmed to collect the        distances measured by the distance sensor, in order to determine        a profile of the surface to be coated over all or part of the        application width of the applicator, analyze the surface profile        to detect the position of an edge of a layer of coating product        along the profile of the surface, open all of the valves of the        nozzles that are positioned on one side of the edge and close        the valves positioned on the other side of the edge along the        profile of the surface.    -   The valves are proportional valves, while the electronic control        unit is programmed to establish a thickness profile of the layer        of coating product along the axis and to monitor the flow rate        of the valves based on the thickness of the layer at each of the        forward points.    -   The distance sensor is a laser sensor, comprising a cell        emitting a laser beam and a cell receiving a reflected laser        beam, while the distance sensor is able to scan, with its beam,        a line perpendicular to the movement direction of the        applicator, so as to measure the application distance of at        least certain nozzles in the row, at points in front of the        latter on the path of the applicator.    -   Each nozzle in the row comprises a valve and respective distance        sensors are provided to measure an application distance of each        nozzle at a respective point in front of the latter on the path        of the applicator.    -   Each valve is a piezoelectric valve, the flow rate of which        depends on an excitation frequency of the valve.    -   The electronic control unit is programmed to close the valve of        the first nozzle when the distance measured by the sensor is        substantially greater than a reference value.    -   The applicator further comprises at least one thickness        measuring sensor, configured to respectively measure the        thickness of the film of coating product applied by the nozzles        at points withdrawn relative to those on the path of the        applicator.    -   The applicator comprises another row of nozzles, positioned on a        delay relative to each thickness measuring sensor on the path of        the applicator.

The invention also relates to a multiaxis robot, comprising a moving armon which an applicator as previously defined is mounted.

The invention also relates to a method of applying a coating product onthe surface of a part, this method being carried out using an applicatorcomprising at least one row of nozzles, among which at least the firstnozzle in the row includes a valve, this method comprising the followingsteps:

-   -   a) moving the applicator in a first direction to apply a first        layer of coating product, and    -   b) moving the applicator in a second direction substantially        parallel to the first direction to apply a second layer of        coating product adjacent to the first layer.

According to the invention, step b) further comprises sub-stepsconsisting of:

b1) measuring at least one application distance of the first nozzle froma point in front of the latter on a path of the applicator, and

b2) based on the measured application distance, opening or closing thevalve.

According to advantageous, but optional aspects, the method comprisesone or more of the following features, considered in any technicallyallowable combination:

-   -   Sub-step b1) consists of collecting application distances of at        least certain nozzles in the row at points respectively in front        of the latter on the journey of the applicator, in order to        determine a profile of the surface to be coated over all or part        of the application width of the applicator, while sub-step b2)        consists of analyzing the surface profile to detect the position        of an edge of the first layer of coating product along the        profile of the surface, and opening all of the valves of the        nozzles that are positioned on one side of the edge and closing        the valves positioned on the other side of the edge along the        profile of the surface.    -   The valves are proportional valves, and step b) comprises other        sub-steps consisting of establishing a thickness profile of the        layer of coating product along the axis, and monitoring the flow        rate of the valves based on the thickness of the layer at each        of the forward points.    -   The method further comprises a step consisting of repositioning        the applicator when the surface is vertical or inclined. This        repositioning step consists of moving the applicator with a        certain amplitude and in a direction parallel to an axis of the        row of nozzles to offset the deviation of the coating product        due to gravity.    -   The movement amplitude of the applicator during the        repositioning step is computed dynamically based on the incline        of the applicator relative to the ground, the application        distance of the nozzles, the ejection speed of the product        through the nozzles and the size of the nozzles, or is extracted        from a prerecorded chart.    -   The method further comprises a step consisting of closing the        valve of the nozzle(s) that may, due to gravity, spray coating        product on a zone of the surface covered by the first layer of        coating product.    -   The valves are proportional valves, and step b) further        comprises the following sub-steps: i) evaluating the incline of        the surface portion intended to be covered by each nozzle        relative to a plane perpendicular to a spray axis of the        nozzles, and ii) monitoring the flow rate of coating product        applied by each nozzle based on the incline of the surface        portion intended to be covered by the corresponding nozzle.

If, during step b), the robot follows its setpoint trajectory, thedistance measured by the distance sensor at a point ahead of the firstnozzle on the path of the applicator is substantially below a referencevalue, which corresponds to the application distance of the nozzles whenthere is no coating product. This means that the application zone of thefirst nozzle at a point up ahead on the path of the applicator isalready covered with coating product. Owing to the invention, the valveof the first nozzle is closed, and no coating product is applied by thefirst nozzle when the latter reaches the point up ahead, which makes itpossible to avoid an excess thickness at the junction between the twostripes.

Conversely, if the robot deviates from a setpoint trajectory, forexample due to the “tubing” phenomenon, the distance measured by thedistance sensor at a point ahead of the first nozzle on the path of theapplicator is substantially equal to the reference value. This meansthat the application zone of the first nozzle at a point up ahead on thepath of the applicator is not covered with coating product. Owing to theinvention, the valve of the first nozzle is open. The first nozzle thencoats the surface when it reaches the point up ahead on the path of theapplicator. This makes it possible to avoid zones that are not coveredand obtain a perfect junction between the two layers of coating product.The valve of the first nozzle is therefore monitored dynamically, i.e.,in real time, on the path of the applicator. This dynamic adjustmentmakes it possible to apply a stripe of coating product with a perfectjunction relative to another existing stripe, even on a curved surfacesuch as the hood of a car. The junction between two paint stripes istherefore provided by the dynamic control of the valve, without using anultraprecise robot or an improved trajectory controller.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention and other advantages thereof will appear more clearly inlight of the following description of seven embodiments of a coatingproduct applicator according to its principle, provided solely as anexample and done in reference to the appended drawings, in which:

FIG. 1 is a schematic illustration of a multiaxis robot comprising amoving arm on which a coating product applicator according to theinvention is mounted;

FIG. 2 is a partial elevation view in the direction of arrow II in FIG.1, showing the coating product applicator in a configuration where itmakes a first pass over a surface to be coated, so as to form a firststripe;

FIG. 3 is a view similar to FIG. 2, showing the coating productapplicator in a configuration where it makes a second pass over asurface to be coated, so as to apply a second stripe adjacent to thefirst stripe;

FIG. 4 is a schematic sectional view of the applicator along line IV-IVof FIG. 3;

FIG. 5 is a schematic sectional view of the applicator along line V-V ofFIG. 3;

FIG. 6 is a view similar to FIG. 3, in which the applicator is accordingto a second embodiment of the invention;

FIG. 7 is a schematic sectional view along line VII-VII of FIG. 6;

FIG. 8 is a diagram relative to a third embodiment of an applicatoraccording to the invention;

FIGS. 9 and 10 are views similar to FIG. 3 and show a coating productapplicator according to a fourth embodiment, in a configuration where itmakes a pass along an edge of a surface to be coated;

FIG. 11 is a schematic sectional view of the coating product applicatorin plane XI-XI of FIG. 10;

FIG. 12 is a view similar to FIG. 3 showing a coating product applicatoraccording to a fifth embodiment of the invention;

FIG. 13 is a view similar to FIG. 4 for a coating product applicatoraccording to a sixth embodiment of the invention, this applicator beingdesigned to offset the effect of gravity as well; and

FIG. 14 is a view similar to FIG. 4 for a coating product applicatoraccording to a seventh embodiment of the invention, this applicatorbeing designed to obtain flawless coverage, even on a warped surface.

DETAILED DESCRIPTION

FIG. 1 shows a multiaxis robot 2 comprising a moving arm 4 on which acoating product applicator 6 is mounted. The applicator 6 is a printinghead of the inkjet type. In the example, the coating product in questionis paint, but it may also be a primer, ink or varnish. The multiaxisrobot 2 is positioned alongside a conveyor 10 moving motor vehiclebodies 8. In the example, the multiaxis robot 2 is designed to apply astripe of paint B on the surface S of the hood of each body 8 moved bythe conveyor 10. The robot 2 comprises a controller, not shown,programmed to control the arm 4 so as to follow a setpoint trajectory.

The coating product applicator 6 comprises a row of nozzles, referenced60.1 to 60.i in the figures, i being the number of nozzles in the row,which is greater than or equal to 2, and for example comprised between10 and 100. The nozzles 60.1 to 60.i in the row are positionedperpendicular to the movement direction of the applicator 6 during theapplication of the coating product. In the example, the nozzles 60.1 to60.i are configured to deposit the coating product dropwise. Oncedeposited, the drop spreads on the surface to be coated. A spreadingcoefficient is defined as the ratio between the area of the surface thatis coated once the drop has spread and the diameter of the drop. Thisspreading coefficient in particular depends on the type of coatingproduct used. It is comprised between 5 and 10, often about 7.

Alternatively, the nozzles can be configured to form a continuous web ofcoating product.

Advantageously, the nozzles 60.1 to 60.i are holes formed in a plate,the width of the drops or the web then corresponding to the width of theholes.

As shown in FIG. 4, each nozzle 60.1 to 60.i in the row comprises avalve 66.1 to 66.i, respectively. The valves 66.1 to 66.i of theapplicator 6 are each connected to a shared reservoir 64 of coatingproduct. The valves 66.2 to 66.i are optional for carrying out theinvention.

In the example, the valves 66.1 to 66.i are electrically controlledvalves, in particular piezoelectric valves.

Piezoelectric valves are so-called exciter valves, comprising apiezoelectric element that is deformable when an electric excitation isapplied. This type of valve works as follows. When the piezoelectricelement is not excited, the fluid remains inside the reservoir 64because the atmospheric pressure is higher than the pressure of thereservoir. Conversely, when the piezoelectric element is excited, forexample with an alternating voltage, it then locally generates anoverpressure allowing the fluid to flow outside the reservoir.

The flow rate of coating product ejected through the nozzles 60.1 to60.i can be adjusted by acting on the excitation frequency of therespective valves 66.1 to 66.i. These are then called proportionalvalves.

In the present document, a valve refers to any device making it possibleto control the flow of the coating product. In particular, according toan alternative that is not shown, the valves 66.1 to 66.i are so-calledshutoff valves, which work by selectively shutting off the fluid passageline.

According to another alternative that is not shown, another type ofexciter valve can be considered to equip the applicator 6. This may be avalve with thermal, acoustic, pneumatic or electrostatic excitation.

The applicator 6 comprises remote sensors 62.1 to 62.i that arepositioned at points ahead of the nozzles 60.1 to 60.i on the path ofthe applicator 6. The sensors 62.1 to 62.i are arranged in a row, whichis parallel to the row of nozzles 60.1 to 60.i. The applicator 6includes as many distance sensors 62.1 to 62.i as there are nozzles 60.1to 60.i. Each sensor 62.1 to 62.i is therefore associated with a nozzle.For example, the sensor 62.1 is associated with the nozzle 60.1. Thus,the position of the sensors 62.1 to 62.i along the path of theapplicator 6 at a moment t corresponds to that of the nozzles 60.1 to60.i at moment t+Δt, where Δt is a duration that depends on the movementspeed of the applicator 6 and the distance d6 between the row of nozzles60.1 to 60.i and the row of sensors 62.1 to 62.i, measured parallel tothe movement direction of the applicator 6. The distance sensors 62.2 to62.i are optional for carrying out the invention.

The distance sensors 62.1 to 62.i measure, at each moment t, thedistance between the applicator 6 and the portion of the surface to becoated S that is across from them. Yet at moment t+Δt, the nozzles 62.1to 62.i reach the position of the sensors 60.1 to 60.i at moment t. Thedistance measured by the sensors 62.1 to 62.i at moment t thereforerespectively corresponds to the application distance of the nozzles 60.1to 60.i at moment t+Δt; i.e., the distance between the nozzles and thepart to be coated, measured along a direction parallel to a sprayingaxis of the coating product through the nozzles. Each distance sensor62.1 to 62.i therefore measures the application distance of the nozzlewith which it is associated at a point, on the path of the applicator 6,that is up ahead relative to the nozzle 60.1 to 60.i associated with it.

Advantageously, each distance sensor 62.1 to 62.i is a laser sensor,comprising a cell emitting a laser beam and a cell receiving a reflectedlaser beam, on the surface S. The laser beam emitted by the emittingcell is substantially parallel to the spraying axis of the coatingproduct through the nozzles 60.1 to 60.i. In the example, the precisionof each sensor is less than 10 μm, in particular about 1 μm.

The applicator 6 further comprises an electronic control unit 68. Theelectronic control unit 68 controls the opening and closing of each ofthe valves 66.1 to 66.i. To that end, the unit 68 sends each of thevalves 66.1 to 66.i control signals, among which the electric controlsignal S1 of the valve 66.1 is schematically shown in FIG. 4. Based onthe received signal, the valve 66.1 opens or closes. Each distancesensor 62.1 to 62.i is connected to the unit 68. The electronic controlunit 68 can therefore collect the distance measured by the sensors ateach moment t. The electronic control unit 68 is able to compare thedistance measured by each of the sensors 62.1 to 62.i with a referencevalue D. This reference value D corresponds to the distance between thenozzles 60.1 to 60.i and the surface to be coated as when the latter isnot covered with coating product. In other words, the reference value Dcorresponds to the application distance of the nozzles 60.1 to 60.i.

In the example, this reference value D is a predetermined value that isidentical for all of the nozzles 60.1 to 60.i. Furthermore, it is aconstant value over time; i.e., the same distance d1 is usedirrespective of the position of the applicator 6 on its path. Thedistance d1 can then be prerecorded in the memory of the electroniccontrol unit 68.

However, alternatively, the reference value D is specific to each nozzleand/or is not a constant function over time; i.e., this reference valueD varies depending on the position of the applicator 6 on its path.

This alternative is advantageous when the surface to be coated iswarped; i.e., when the application distance varies substantially fromone nozzle to another and/or varies substantially over the path of theapplicator 6. In this case, the distance D to which the distance sent bythe sensors at each moment is compared can be acquired by learning, bymoving the applicator 6 a first time “blank”; i.e., without applyingcoating product. The values acquired by the sensors 62.1 to 62.i duringthe learning then serve as reference distances, like the reference valueD.

A method for applying a coating B on a surface to be coated S isdescribed below in relation to FIGS. 2 to 5. This method is carried outby the applicator 6 described above. In the example, the surface S to becoated is the hood of a car 8. The coating B visible in FIG. 1 is formedby two layers B1 and B2 of coating product. In the example, the layersof product B1 and B2 are stripes extending in the longitudinal directionof the hood. The stripes B1 and B2 are applied to be adjacent; i.e.,such that there is no non-covered zone between the stripes B1 and B2.

FIG. 2 illustrates a step a) during which the applicator 6 makes a firstpass to apply a first stripe B1 on the surface to be coated S. Themovement direction of the applicator 6 is shown in FIG. 2 by an arrowA1. The movement direction A1 in fact corresponds to the directionvector of the movement line of the applicator 6. This vector is parallelto the surface to be coated at all times. Thus, if the surface to becoated is planar, the movement line of the applicator is a straightline. Conversely, if the surface to be coated is curved, the movementline of the applicator is a curve, with a curve radius substantiallyequal to that of the curved surface.

FIG. 3 illustrates a step b) during which the applicator 6 makes asecond pass to apply a second stripe B2 adjacent to the first stripe B1.To that end, the movement direction of the applicator 6 during thissecond pass, which is shown in FIG. 3 by an arrow A2, is substantiallyparallel to the movement direction A1 of the applicator during the firstpass. Thus, if the movement line of the applicator 6 during the firstpass is a first curve, the movement line of the applicator during thesecond pass is a second curve parallel to the first curve. Any planenormal to one curve from among the first and second curves is then alsoa plane normal to the other, the distance between two respective pointsof the two curves that are contained in this normal plane beingsubstantially constant. These two curves can therefore be seen as tworails of a railroad track connected by crosspieces with a constantlength, the crosspieces always remaining orthogonal to the rails.

During the second pass, the applicator 6 is moved, during step b), as ifto partially cover the first stripe B1; i.e., as if to cover the edgeB1.1 of the first stripe B1 intended to be adjacent to the second stripeB2. The coverage is thus forced. This is particularly visible in FIG. 3,where one can see that the applicator 6 slightly overhangs the firststripe B1. If all of the valves 66.1 to 66.i were open during the secondpass by the applicator 6, the first stripe B1 would then be covered overa certain width. In the example, the coverage width correspondsapproximately to the width of the surface covered by a drop from thefirst nozzle once that drop has spread. Alternatively, the coveragewidth can be the surface covered by several nozzles after spreading, inparticular four or five successive nozzles. In practice, the coveragewidth depends on several parameters related to the imprecision of therobot, the tubing phenomenon, repeatability problems, or the allowancesof the jets. The coverage width is comprised between approximately 1 mmand 5 mm.

As shown in FIG. 5, during a sub-step b1) of step b), the distancesensor 62.1 measures, at a moment t, the distance separating it from thesurface to be coated S. As explained above, this measured distancecorresponds to the application distance of the nozzle 60.1 at momentt+Δt. During sub-step b1), the distance sensor 62.1 therefore measuresthe application distance of the nozzle 60.1 at a point up ahead of it onthe path of the applicator 6.

The electronic control unit 68 then collects the distance measured bythe sensor 62.1 and, during a sub-step b2), compares this distance withthe reference value D.

An application zone of the nozzle is defined as a portion of the surfaceto be coated intended to be covered with coating product by the nozzle.In other words, within the meaning of the present application, theapplication zone of a nozzle is not the zone that the nozzle is capableof coating at the moment t, but the zone that the nozzle will be capableof coating at the moment t+Δt on the path of the applicator 6.

If the robot follows its setpoint trajectory, the distance measured bythe distance sensor 62.1 at a point ahead of the first nozzle 60.1 onthe path of the applicator is substantially below a reference value D.This means that the application zone of the first nozzle at a point upahead on the path of the applicator is already covered with coatingproduct. The valve 66.1 of the first nozzle 60.1 is then closed during asub-step b3) of the method according to the invention, and no coatingproduct is applied by the first nozzle 60.1 when the latter reaches thepoint up ahead; i.e., at the moment t+Δt. An overthickness is thusavoided at the junction between the two stripes B1 and B2.

During the operation of the applicator 6, the electronic control unit 68considers that the value measured by a sensor is substantially lowerthan the reference value D when the difference between the two values,representing the actual thickness of the coating product deposited onthe surface S, is less than 50% of the theoretical wet thickness. Thetheoretical wet thickness corresponds to the thickness of the coatingproduct on the surface S that one wishes to deposit before drying. Forexample, the electronic control unit 68 can consider that the valuemeasured by the sensor is substantially lower than the reference value Dwhen the difference between the two values is less than 20 μm.

Conversely, if, during step b), the robot deviates from its setpointtrajectory, the distance measured in step b1) by the distance sensor62.1 at a point ahead of the first nozzle 60.1 on the path of theapplicator 6 is substantially equal to the reference value D. This meansthat the application zone of the first nozzle 60.1 at a point up aheadon the path of the applicator 6 is not covered with coating product. Inthis case, the valve 66.1 of the first nozzle 60.1 is open. The firstnozzle then coats the surface S when it reaches the point up ahead onthe path of the applicator; i.e., at moment t+Δt. This makes it possibleto avoid zones that are not covered between the stripes B1 and B2 andobtain a perfect junction between the two layers of coating product B1and B2.

The aforementioned steps are reiterated, at each moment over the courseof the movement of the applicator 6; i.e., dynamically, with a frequencyof about 1 ms.

In the configuration of FIG. 5, the application zone Z1 of the nozzle60.1 is covered by the stripe B1 applied during the first pass by theapplicator 6. Thus, the laser beam F2 emitted by the sensor 62.1 isreflected by the coating stripe B1 in a laser beam F′2, which isreceived by the receiving cell of the sensor 62.1. The time elapsedbetween the emission of the laser beam and the reception of thereflected laser beam is representative of the distance d2 between thesensor 62.1 and the coating layer B1. The sensor 62.1 communicates thedistance d2 to the unit 68, which compares it with the reference valueD. The distance d2 being shorter than the distance D, the electroniccontrol unit 68 closes the valve 66.1 of the nozzle 60.1, as symbolizedin FIG. 4 by a cross.

Conversely, the laser beam F1 emitted by the other sensors 62.2 to 62.iis reflected in a laser beam F′1 directly by the surface S to be coated.The distance d1 measured by the sensors 62.2 to 62.i thereforesubstantially corresponds to the aforementioned reference value D. Theelectronic control unit therefore does not close the correspondingvalves 66.2 to 66.i, as symbolized by the drops of product in FIG. 4.The width of the second stripe B2 is therefore smaller than that of thefirst stripe B1.

Advantageously, the distance sensors 62.1 to 62.i measure, at eachmoment t, the application distance of each of the nozzles 60.1 to 60.iat moment t+Δt. The electronic control unit 68 then compares each of thevalues measured by the sensors 62.1 to 62.i with the reference value D.The electronic control unit 68 then closes all of the valves for whichthe distance measured by the corresponding sensors is below thereference value D and opens the other valves; i.e., all of the valvesfor which the distance measured by the corresponding sensors issubstantially equal to the reference value D.

FIGS. 6 to 8 show a second and third embodiment of an applicator 6according to the invention. Below, only the differences with respect tothe first embodiment are mentioned in the interest of concision.Furthermore, all of the elements of the applicator 6 retain theirnumerical reference.

In the second embodiment shown in FIGS. 6 and 7, the applicator 6comprises only one distance sensor 62, which is positioned on the sideof the first nozzle 60.1. This distance sensor 62 differs from thedistance sensors 62.1 to 62.i in that it is able to scan, with its laserbeam, a line extending in a plane perpendicular to the movementdirection of the applicator 6. The scanning angle θ of the sensor 62 issuch that the distance sensor 62 is able to determine the distanceprofile of the nozzles 60.1 to 60.i; i.e., to measure the applicationdistance of several successive nozzles at points further ahead relativeto the latter on the path of the applicator 6.

Advantageously, the scanning angle θ of the sensor 62 is such that thedistance sensor 62 is able to measure the application distance of eachof the nozzles 60.1 to 60.i at points further ahead relative to thelatter on the path of the applicator 6.

For example, the scanning angle θ of the sensor 62 can be comprisedbetween 10° and 120°, preferably about 90°.

One advantage of this second embodiment is that a single distance sensoris used for all of the nozzles, which limits the cost of the applicator6.

The method of applying the coating product using the applicator 6according to this second embodiment differs from the method describedabove in relation to the embodiment of FIGS. 1 to 5 as follows.

During sub-step b1), the distance sensor 62 measures the applicationdistance of each of the nozzles 60.1 to 60.i at points further aheadrelative to those on the path A2 of the applicator 6. The electroniccontrol unit 68 then collects these values from the sensor 62.

Based on the distances measured by the distance sensor 62, theelectronic control unit 68 establishes a surface profile over all orpart of the application width of the applicator 6, and therefore athickness profile of the coating applied on the surface. The surfaceprofile of the part corresponds to the intersection between the surfaceS to be coated in a plane perpendicular to the movement direction of theapplicator 6. What we call surface profile in reality is therefore aline.

For a covering method, i.e., consisting of applying two layers ofcoating product to be adjacent, this thickness profile approximatelycorresponds to a step function with a step value corresponding to thethickness of the layer of coating product B1 applied on the surface. Theelectronic control unit is capable, by analyzing the values of distancesmeasured by the sensor 62, of determining the position of the edge B1.1of the first stripe B1 along the surface profile.

In the considered example, the surface is planar, such that the surfaceprofile can be likened to a straight line X-X′ perpendicular to themovement direction of the applicator 6 and perpendicular to a sprayingaxis of the modules 60.1 to 60.i. This is called a thickness edge.

The position of the edge B1.1 corresponds to the position of the pointfrom which a clear distance variation measured by the sensor 62 isobserved, this variation being due to the presence of the layer ofcoating product B1. The sensitivity of the distance sensor 62 is suchthat the electronic control unit is capable of detecting the thicknessedge irrespective of the surface geometry to be coated; i.e., even for awarped surface. Indeed, the precision of each sensor is less than 10 μm,in particular about 1 μm.

Thus, the electronic control unit 68 closes all of the valves that arepositioned on a first side of the edge B1.1 and opens the valves thatare positioned on the second side of the edge B1.1. The first side ofthe edge B1.1 corresponds to the side where the surface S is coated withproduct to the left of the edge B1.1 in FIG. 7, while the second side ofthe edge B1.1 corresponds to the side where the surface S has no coatingproduct, to the right of the edge B1.1 in FIG. 7. For example, if theposition of the edge B1.1 along the axis X-X′ determined by theelectronic control unit 62 is between the application points of thenozzles 60.2 and 60.3, the electronic control unit 68 closes the valvesof the nozzles 60.1 and 60.2 and opens the other valves.

During the second pass by the applicator 6, the coating product istherefore only deposited in the locations of the surface S that are notcovered by the stripe B1. It is thus possible to compensate a pathdefect of the robot and provide a perfect junction between the twostripes B1 and B2, with no overthickness.

In the third embodiment, explained below in relation to FIG. 8, theapplicator 6 comprises valves 66.1 to 66.i with a controllable flowrate, or proportional valves. In the example, the valves 66.1 to 66.iare piezoelectric valves whose excitation frequency can be adjustedbased on the desired flow rate.

Alternatively, the valves 66.1 to 66.i are solenoid valves of theshutoff type. The flow rate of the valves is then controlled byadjusting the opening frequency of the valves. According to anotheralternative, it is also possible to use variable flow rate valves.

From the distance values measured by the sensor 62, the electroniccontrol unit 68 establishes a thickness profile of the layer of coatingproduct in a plane perpendicular to the movement direction of theapplicator and monitors the flow rate of the valves 66.1 to 66.i basedon the thickness of the layer measured at each of the application pointsof the nozzles. More specifically, the thickness of the layer iscompared at each point with the theoretical thickness of the layer ofcoating product, this theoretical thickness being recorded in memory inthe electronic control unit.

If, for example, the thickness computed by the unit 68 at a point iscomprised between 0 and 25% of the maximum thickness e, the flow rate ofthe corresponding valve corresponds to 100% of the maximum flow rate.Conversely, if the thickness computed by the unit 68 at a point iscomprised between 25% and 50% of the theoretical thickness, the flowrate of the corresponding valve corresponds to 75% of the maximum flowrate. If the thickness computed by the unit 68 at a point is comprisedbetween 50% and 75% of the theoretical thickness, the flow rate of thecorresponding valve corresponds to 50% of the maximum flow rate. Lastly,if the thickness computed by the unit 68 at a point is comprised between75% and 100% of the theoretical thickness, the corresponding valve isclosed.

The applicator 6 according to the third embodiment has the advantagethat if the edge B1.1 of the stripe B1 is not a clean edge, for exampledue to the spreading of the coating product, the flow rate of the valvesbelonging to the nozzles arranged to apply the coating product on theedge B1.1 is controlled to offset the lack of thickness at the junction.

FIGS. 9 to 12 show a fourth embodiment and a fifth embodiment of anapplicator 6 according to the invention. Below, only the differenceswith respect to the first embodiment are mentioned in the interest ofconcision. Furthermore, all of the elements of the applicator 6 retaintheir numerical reference.

The applicator 6 of FIGS. 9 to 11, according to the fourth embodiment,differs from that of the first embodiment by the programming of theelectronic control unit 68. This particular programming of the unit 68seeks to avoid wasting coating product by applying coating product inempty space. This programming is advantageous if the applicator 6 isused to paint a surface defining the edge of a part, for example alongitudinal edge of the roof of a car.

In the continuation of the description, the applicator 6 is consideredto be oriented such that the first nozzle 60.1 is the nozzle of the rowclosest to the edge S.1 of the surface to be coated S. During theapplication of the coating product, the applicator 6 is moved along theedge of the part to be coated, as shown by arrow A3 in FIG. 9. Thesensor 62.1 associated with the first nozzle 60.1 then measures, at eachmoment t, the distance that separates it from the first object on whichthe beam S3 that it emits is reflected. To that end, it assesses thetime between the emission of the laser beam F3 and the reception of thereflected laser beam F′3. This distance corresponds to the applicationdistance of the first nozzle 60.1 at a moment t+Δt.

If this distance is substantially greater than the reference value D,this means that, at the moment t+Δt, the part to be coated will not bein the field of application of the nozzle 60.1. The electronic controlunit 68 then closes the valve 66.1 of the first nozzle 60.1 so as not toapply coating product through the nozzle 60.1 at moment t+Δt and tothereby avoid wasting coating product. In this second embodiment, thesensors 62.2 to 62.i and the valves 66.2 to 66.i are also optional tocarry out the invention.

Advantageously, the distance sensors 62.1 to 62.i dynamically measure,at each moment t, the application distance of each of the nozzles 60.1to 60.i at a point up ahead on the path of the applicator 6. The robot 2therefore determines, in real time, whether the distance measured byeach of the sensors 62.1 to 62.i is greater than the reference value D.The electronic control unit 68 then closes all of the valves for whichthe distance measured by the corresponding sensors substantially exceedsthe reference value D and opens the other valves; i.e., all of thevalves for which the distance measured by the corresponding sensors issubstantially equal to the reference value D.

Controlling each of the valves 66.1 to 66.i based on the distancesmeasured by their respective sensors makes it possible to apply acoating product on very warped surfaces, like the surface S of FIGS. 9and 10, which defines a curvilinear edge S.1, while moving theapplicator 6 in a straight line and without losing coating product.

The applicator 6 of FIG. 12, according to the fifth embodiment, differsfrom that of the first embodiment in that it further comprises a secondrow of distance sensors, respectively referenced 63.1 to 63.i, which arepositioned perpendicular to the movement A4 of the applicator 6. Thesensors 63.1 to 63.i are thickness measuring sensors positioned on adelay relative to the nozzles 60.1 to 60.i on the path of the applicator6. Thus, the position of the nozzles 60.1 to 60.i at the moment tcorresponds to the position of the sensors 63.1 to 63.i at the momentt+Δt′, where Δt′ is a duration that depends on the movement speed of theapplicator 6 and the distance d6′ between the row of nozzles 60.1 to60.i and the row of sensors 62.1 to 62.i, measured parallel to themovement direction of the applicator 6. If the distance d6′ is equal tothe distance d6 previously defined, the duration Δt′ is equal to theduration Δt. Otherwise, the durations Δt and Δt′ are different. Thedistance sensors 63.1 to 63.i are identical to the distance sensors 62.1to 62.i and make it possible to measure the thickness of the film ofcoating product applied by the applicator 6. To that end, the distanceapplicator 63.1 to 63.i sends the distance that it measures to theelectronic control unit 68, which compares the measured distances withthe reference value D to determine the thickness of the film of coatingproduct applied on the surface S. The sensors 63.1 to 63.i thereforemake it possible to check the uniformity of the thickness of the filmdeposited by the applicator 6.

Advantageously, if the sensors 63.1 to 63.i detect zones of the surfaceS where the thickness of the film of coating product is smaller than thedesired thickness, the applicator 6 can make a new pass, to make thethickness of the coating product applied on the surface S uniform.

In an alternative applicable to the fifth embodiment, the applicator 6comprises only one thickness measuring sensor, comparable to thedistance sensor 62.

FIG. 13 shows a coating product applicator according to a sixthembodiment of the invention. Below, only the differences with respect tothe first embodiment are described in the interest of concision.

The applicator of FIG. 13 is designed to compensate the effect ofgravity g on the drops of product discharged through the nozzles 60.1 to60.i.

Indeed, when the printing head 6 is in the configuration of FIGS. 1 to12, the effect of gravity g is negligible on the direction of the dropsof coating product discharged through the nozzles 60.1 to 60.i. However,when the printing head is inclined by 90°, as shown in FIG. 13, thedrops of coating product are deflected, under the effect of gravity g,relative to the spraying axis of the nozzles, which is horizontal in theexample. The deflection of the drops can cause coverage flaws and/oroverthickness zones.

To avoid this, the applicator 6 is repositioned when the surface S to becoated is vertical or inclined. This repositioning step consists ofmoving the applicator 6 with a certain amplitude and in a direction A5parallel to an axis of the row of nozzles 60.1 to 60.i to offset thedeviation of the coating product due to gravity g. Thus, the directionA5 of this offset is oriented upward. It is also perpendicular to themovement direction of the applicator, which, in the example of FIG. 13,is perpendicular to the plane of FIG. 13.

The movement amplitude of the applicator 6 during the repositioning stepis computed dynamically based on the incline of the applicator 6relative to the ground, the application distance of the nozzles 60.1 to60.i, the ejection speed of the product through the nozzles and the sizeof the drops of coating product, with the understanding that the size ofthe drops corresponds to the size of the nozzles 60.1 to 60.i. All ofthese parameters are recorded in memory in the controller of the robot2, which is not shown in the figures. The incline value of theapplicator 6 relative to the ground is updated automatically based onthe orientation of the applicator 6 in the “tool” reference.

The amplitude of the offset can also be extracted from a pre-recordedabacus, in which all of the movement values to be applied to compensatethe effect of gravity based on the different influencing parameters arerecorded.

The repositioning step is carried out by the multiaxis robot 2. Morespecifically, the amplitude of the offset is computed by the controllerof the robot, which sends a control signal to the actuator of the robotarm to move the applicator in the provided direction and with theprovided amplitude.

In an alternative to this sixth embodiment, the electronic control unit68 is programmed to close the valve of the nozzle(s) that may, due togravity, spray coating product on a zone Z1 of the surface S that isalready covered. In the example of FIG. 13, the applicator 6 moves at analtitude such that the nozzles 60.1 and 60.2 are able to spray drops ofproduct on the zone Z1 already covered by the stripe B1 of coatingproduct. The valves 66.1 and 66.2 are therefore closed. The valves to beclosed are primarily identified based on the altitude of the applicator6 relative to the stripe B1 of coating product covering part of thesurface S. Other parameters must also be taken into account, such as theincline of the applicator 6 relative to the ground, the applicationdistance of the nozzles, the ejection speed of the product through thenozzles and the size of the drops of coating product. The altitude ofthe applicator 6 is a setpoint parameter controlled by the robotcontroller. One advantage of this alternative is that this makes itpossible to resolve the problem of the deflection of the drops ofcoating product under the effect of gravity without using a very preciserobot, since there is no offset.

FIG. 14 shows a coating product applicator according to a seventhembodiment of the invention. Below, only the differences with respect tothe other embodiments are described in the interest of concision.

The applicator of FIG. 14 is designed to obtain flawless coverage, evenon a warped surface S. In a manner comparable to the third embodiment,the applicator 6 of FIG. 14 comprises proportional valves.

During step b) previously described, each nozzle 60.k from among thenozzles 60.1 to 60.i is intended to coat a certain portion Sk of thesurface S, k being a natural integer between 1 and i.

For example and in reference to FIG. 14, the nozzle 60.2 is intended tocoat the portion S2 of the surface S during the movement of theapplicator 6, while the nozzle 60.6 is intended to coat the portion S6of the surface S. In the plane of FIG. 14, these surface portions appearin the form of segments in bold lines. The respective portions of thenozzles 60.1 to 60.i are adjacent. The width of the surface portions Skdepends on the width of the nozzles and the spreading coefficient. Whenthe surface portion Sk is substantially perpendicular to the sprayingaxis of the nozzles, the area of the surface portion Sk substantiallycorresponds to the area of the coated surface, under a nominal flowrate, once the drop from the nozzle 60.k has spread.

Conversely, when the surface portion Sk is not substantiallyperpendicular to the spraying axis of the nozzles, as is for example thecase for the surface portion S2 relative to the nozzle 60.2, the area ofthe coated surface, under a nominal flow rate, is smaller than the areaof the surface portion Sk to be coated. There is therefore a coverageflaw.

To overcome this coverage flaw, the flow rate of each nozzle 60.k fromamong the nozzles 60.1 to 60.i is monitored based on the incline of therespective surface portion Sk relative to a plane perpendicular to thespraying direction of the nozzles 60.1 to 60.i. In the configuration ofFIG. 14, this plane is horizontal.

The applied flow rate is higher when the corresponding surface portionto be coated is inclined, so as to offset the lack of coating product.

The incline of each surface portion Sk relative to the planeperpendicular to the spraying axis of the nozzles is computed by theelectronic control unit 68 by determining the distance deviation ΔD_(k),measured parallel to the spraying axis of the nozzles 60.1 to 60.i,between two end points Sk.1 and Sk.2 of each surface portion Sk. Thesetwo points are positioned, along the surface profile, on opposite borderlines of the surface portion Sk, these border lines extending parallelto the movement direction of the applicator 6.

In FIG. 14, the end points of the surface portion S2 are shown withtheir references S2.1 and S2.2, the deviation between these two pointsbeing represented by the measurement ΔD₂ corresponding to the differencebetween the distance D1 and the distance D2. For the case of the surfaceportion S2, the electronic unit 68 therefore compares a distance D1,measured parallel to the spraying axis of the nozzles, between the pointS2.1 and the distance sensor, and a distance D2, measured parallel tothe spraying axis of the nozzles, between the point S2.2 and thedistance sensor.

Thus, the coating product flow rate flowing through a nozzle 60.k ishigher as the distance deviation ΔD_(k) becomes higher. Advantageously,the relationship between the flow rate and the distance deviation ΔD_(k)is a linear-type relationship.

For example, as shown in FIG. 14, the surface portion S6 intended to becovered by the nozzle 60.6 has a smaller area than the surface portionS2 intended to be covered by the nozzle 60.2. Thus, the flow rate ofcoating product applied by the nozzle 60.2 is higher than the flow rateof coating product applied by the nozzle 60.6.

In an alternative that is not shown, the applicator 6 comprises severalrows of nozzles aligned with one another.

According to another alternative applicable to the fifth embodiment, theapplicator 6 further comprises a second row of nozzles positioneddownstream of the sensor(s) 63.1 to 63.i on the path of the applicator6. In other words, the second row of nozzles is positioned on a delayrelative to each thickness measuring sensor 63.1 to 63.i on the path ofthe applicator 6. This second row of nozzles also comprises i nozzles,which are distributed identically to the row of nozzles 60.1 to 60.i.This second row of nozzles makes it possible to offset any coverageflaw, or lack of thickness, detected by the sensor(s) 63.1 to 63.i andto thereby homogenize the thickness of the applied layer of coatingproduct without to-and-fro journeys. Such a lack of thickness may appearwhen a nozzle in the first row; i.e., the upstream row of nozzles 60.1to 60.i, is clogged, or at least has a malfunction. A lack of thicknessmay also appear when coating a warped surface, as shown in FIG. 14relative to the seventh embodiment, or upon faulty coverage at thejunction between two stripes of coating product. Another advantage ofthis alternative is that the control of the valves 66.1 to 66.i of thefirst row of nozzles can be simplified because the coverage flaws can becorrected practically instantaneously.

According to another alternative that is not shown, the applicator 6comprises a single valve 66.1, corresponding to the valve of the firstnozzle 60.1 of the row. In this case, the applicator 6 comprises onlyone sensor 62.1 provided to measure the application distance of thefirst nozzle 60.1 at a point up ahead of it on the path of theapplicator 6.

According to another alternative that is not shown, only the firstnozzle 60.1 and the last nozzle 60.i of the row include a valve 66.1 and66.i, respectively. In this case, the applicator 6 comprises only twodistance sensors 62.1 and 62.i, respectively, provided to measure theapplication distance of the first nozzle 60.1 and the last nozzle 60.i,respectively, at a point up ahead of them on the path of the applicator6.

According to another alternative that is not shown, other types ofdistance sensors can be considered, such as ultrasound sensors.

The features of the alternatives and embodiments of the inventionmentioned above may be combined with one another to create newembodiments of the invention.

1. An applicator of a coating product on a surface to be coated,including at least one row of nozzles, among which at least a firstnozzle in the row includes a valve, wherein the applicator furthercomprises: at least one distance sensor, to measure an applicationdistance of the first nozzle from a point in front of the first nozzleon a path of the applicator, and an electronic control unit of thevalve, which is programmed to carry out the following steps: i) collecta distance measured by the distance sensor, and ii) based on thedistance collected in step i), open or close the valve.
 2. Theapplicator according to claim 1, wherein each nozzle in the rowcomprises a valve, and wherein the distance sensor is able to measurethe application distance of at least certain nozzles in the row atrespective points in front of the latter on the path of the applicator.3. The applicator according to claim 2, wherein the distance sensor is alaser sensor, comprising a cell emitting a laser beam and a cellreceiving a reflected laser beam, and wherein the distance sensor isable to scan, with its beam, a line perpendicular to a movementdirection of the applicator, so as to measure the application distanceof at least certain nozzles in the row, at points in front of the latteron the path of the applicator.
 4. The applicator according to claim 1,wherein each valve is a piezoelectric valve, a flow rate of whichdepends on an excitation frequency of the valve.
 5. The applicatoraccording to claim 1, wherein the electronic control unit is programmedto close the valve of the first nozzle when the distance measured by thedistance sensor is greater than a reference value.
 6. The applicatoraccording to claim 1, wherein it further comprises at least onethickness measuring sensor, configured to respectively measure thethickness of a film of coating product applied by the nozzles at pointswithdrawn relative to those on the path of the applicator.
 7. Theapplicator according to claim 6, wherein the applicator comprisesanother row of nozzles, positioned on a delay relative to each thicknessmeasuring sensor on the path of the applicator.
 8. A multiaxis robot,comprising a moving arm on which an applicator according to claim 1 ismounted.
 9. A method of applying a coating product on a surface of apart, this method being carried out using an applicator comprising atleast one row of nozzles, among which at least the first nozzle in therow includes a valve, the method comprising the following steps: a)moving the applicator in a first direction to apply a first layer ofcoating product, and b) moving the applicator in a second directionsubstantially parallel to the first direction to apply a second layer ofcoating product adjacent to the first layer, comprising sub-stepsconsisting of: b1) measuring at least one application distance of thefirst nozzle from a point in front of the first nozzle on a path of theapplicator, and b2) based on the measured application distance, openingor closing the valve.
 10. The method according to claim 9, whereinsub-step b1) consists of collecting application distances of at leastcertain nozzles in the row at points respectively in front of the latteron a journey of the applicator, in order to determine a surface profileto be coated over all or part of the application width of theapplicator, while sub-step b2) consists of analyzing the surface profileto detect the position of an edge of the first layer of coating productalong the surface profile, and opening all of the valves of the nozzlesthat are positioned on one side of the edge and closing the valvespositioned on the other side of the edge along the surface profile. 11.The method according to claim 10, wherein the valves are proportionalvalves and in that step b) comprises other sub-steps consisting of: i.establishing a thickness profile of the layer of coating product alongthe axis, and ii. monitoring the flow rate of the valves based on thethickness of the layer at each of the forward points.
 12. The methodaccording to claim 9, further comprising a step consisting ofrepositioning the applicator when the surface is vertical or inclinedand wherein this repositioning step consists of moving the applicatorwith a certain amplitude and in a direction parallel to an axis of therow of nozzles to offset the deviation of the coating product due togravity.
 13. The method according to claim 12, wherein a movementamplitude of the applicator during the repositioning step is computeddynamically based on the incline of the applicator relative to theground, the application distance of the nozzles, an ejection speed ofthe product through the nozzles and on a size of the nozzles, or isextracted from a prerecorded chart.
 14. The method according to claim 9,further comprising a step consisting of closing the valve of thenozzle(s) that may, due to gravity, spray coating product on a zone ofthe surface covered by the first layer of coating product.
 15. Themethod according to claim 9, wherein the valves are proportional valvesand in that step b) further comprises the following sub-steps: i.evaluating an incline of a surface portion intended to be covered byeach nozzle relative to a plane perpendicular to a spray axis of thenozzles, and ii. monitoring a flow rate of coating product applied byeach nozzle based on the incline of the surface portion intended to becovered by the corresponding nozzle.